S.Thrun, W. Burgard, and D. Fox

A Real-Time Algorithm for Mobile Robot Mapping With Applications to Multi-Robot and 3D Mapping

Proc. of the IEEE International Conference on Robotics and Automation (ICRA), 2000


Abstract

We present an incremental method for concurrent mapping and localization for mobile robots equipped with 2D laser range finders. The approach uses a fast implementation of scan-matching for mapping, paired with a sample-based probabilistic method for localization. Compact 3D maps are generated using a multi-resolution approach adopted from the computer graphics literature, fed by data from a dual laser system. Our approach build 3D maps of large, cyclic environments in real-time. It is remarkably robust. Experimental results illustrate that accurate maps of large, cyclic environments can be generated even in the absence of any odometric data.

Download

Full paper [.ps.gz] (1179 kb, 8 pages)

Bibtex

@INPROCEEDINGS{Thr00Rea,
  AUTHOR            = {Thrun, S. and Burgard, W. and Fox, D.},
  TITLE                  = {A Real-Time Algorithm for Mobile Robot Mapping With
                                       Applications to Multi-Robot and 3D Mapping},
  BOOKTITLE     = {Proc.~of the IEEE International Conference on Robotics \& Automation},
  YEAR                   = {2000}
}


[Back to my research]
[Back to my list of publications]